Image orienting coupling assembly

ABSTRACT

A coupling assembly for a scope and an image sensor housing is disclosed generally comprising an image orientation unit having first and second coupling sections for coupling the unit to a scope and an image sensor housing, such as a camera head, an optical assembly with a rotatable optical element for rotating the images, a rotation sensor for monitoring rotation of the optical element, an accelerometer for monitoring rotation of the unit, and a processor for receiving signals from the rotation sensor and the accelerometer and calculating the orientation of the images relative to the direction of gravity. In certain embodiments, the processor causes an actuator to rotate the optical element to level the images. In some embodiments, the processor activates a visual indicator, such as a diode, to indicate the direction of vertical.

CROSS-REFERENCE TO RELATED APPLICATIONS

This patent application claims the benefit of, under Title 35, UnitedStates Code, Section 119(e), U.S. Provisional Patent Application No.60/653,927, filed Feb. 17, 2005.

FIELD OF THE INVENTION

The present invention relates to an assembly for orienting imagesobtained by a viewing instrument, such as an endoscope. Morespecifically, the invention relates to a coupling assembly to connect anendoscope to a sensor housing, such as a camera, that orients the imagesfor the user by automatically leveling them or providing an indicationof the vertical direction.

BACKGROUND OF THE INVENTION

Various types of viewing scopes, such as endoscopes, are generally wellknown in the art. Generally, an endoscope is a medical device forinsertion into a body passageway or cavity that enables an operator toview and/or perform certain surgical procedures at a site inside apatient's body. As is known, endoscopes may be either rigid or flexible,and generally include a long tubular member equipped with, for example,some type of system for transmitting images to the user, and in somecases, a working channel for a surgical instrument.

More specifically, the scope itself generally comprises an elongatedshaft having a distal end and a proximal end, and at least one internalpassageway extending between the distal end and the proximal end. Opticsare disposed at the distal end of the shaft and extend through aninternal passageway of the shaft, such that the optics can capture animage of a selected region located near the distal end of the shaft andconvey that image to the proximal end of the shaft. An image sensor,such as a camera, is disposed adjacent to the proximal end of the shaft,such that the image obtained and transmitted by the optics can beconveyed to a display device to be viewed by a physician.

One problem with such systems, however, is that, as a surgeonmanipulates the scope and camera, the camera faithfully relates what itsees, with its own upright axis displayed as the upright axis of theimage on the display, which often results in rotation of the imagesbeing viewed. As the image rotates, the surgeon loses track of whichdirection is actually up inside the endoscopic cavity. Thisdisorientation is one of the major challenges in endoscopy, and, attimes, has resulted in severe mistake such as the snipping of opticalnerves that, during the procedure, were believed to be a different partof the anatomy. Accordingly, the surgeon must continuously try tocorrelate his own mental picture of the anatomy with the endoscopicpicture of the display. Indeed, the need to be sure of which directionis up is so important that it has become common for surgeons to observethe flow direction of fluid droplets on the endoscope cover window orsearch for pooling blood in order to get a sense of direction inside thecavity. Additionally, besides the importance of being able todistinguish between anatomical features that look similar, it is alsoimportant to be sure of the up direction in order to help understand theposition of the scope relative to the surrounding anatomy.

Accordingly, a number of systems have been proposed to maintain theproper upright, gravity-leveled orientation of the endoscopic imagesirrespective of how the endoscope is being manipulated. Examples, ofsuch systems are described in U.S. Pat. No. 5,307,804 to Bonnet, U.S.Pat. No. 5,899,851 to Koninckx, U.S. Pat. No. 6,097,423 toMattsson-Boze, et al., U.S. Pat. No. 6,471,637 to Green, et al., U.S.patent application Ser. No. 2002/0161280 by Chatenever, et al., U.S.patent application Ser. No. 2004/0210105 by Hale, et al., and U.S.patent application Ser. No. 2005/0228230 by Schara, et al.

The basic known designs of gravity-leveled endoscopic systems areillustrated in FIGS. 1A-C. FIG. 1A shows an endoscope that has anintegrated shaft 10 and camera head 12. In addition to an image sensor14, the camera head 12 also houses a processor 16 and rotation sensor18. Power and electronic communication is provided through a cable 20.The image rotation required to level the image is done electronically bya separate processor (not shown). Because this integrated cameraendoscope is a single unit, it is not compatible with the traditionalendoscopes and camera heads most commonly available in the operatingroom, and a prospective user must buy the whole system in order toobtain gravity-leveling capabilities.

FIG. 1B shows a gravity-leveled system that has a shaft 10 that isdetachable from the camera head 12, which also houses a processor 16 anda rotation sensor 18. Image leveling is accomplished by physicallyrotating an image sensor 14 with a motor 22 and gear train 24, 26. Adisadvantage of this system is that the camera head 12 is not compatiblewith the standard eyepiece of traditional endoscopes, but rather,requires a special coupling between the camera head and the endoscopeshaft.

FIG. 1C illustrates a camera head 12 with an eyepiece coupler 30 andpendulum 28, which seeks the upright camera position by the nature ofits weight. While compatible with a traditional endoscope with aneyepiece 32 and a light post 34, one disadvantage of this solution isthat the pendulum 28 is cumbersome and becomes unresponsive as itapproaches horizontal. Additionally, it requires the purchase of thisspecialty camera head, even if a traditional camera head is alreadyavailable. Finally, these systems typically do not providegravity-leveling for rigid endoscopes with an off-axis view vector.

What is desired, therefore, is a system for orienting the imagesobtained by a scope independently of the orientation of the scope. Whatis further desired is a system for orienting the images obtained by ascope that can be employed with standard camera heads and scopes. Whatis also desired is a system for orienting the images obtained by a scopethat is accurate, not cumbersome, and can be used with scopes having anoff-axis view vector.

SUMMARY OF THE INVENTION

Accordingly, it is an object of the present invention to provide anassembly for orienting the images obtained by a scope that canaccurately monitor the orientation of the scope regardless of how it ismanipulated.

It is a further object of the present invention to provide an assemblyfor orienting the images obtained by a scope that can couple atraditional endoscope to a standard camera head.

It is yet another object of the present invention to provide an assemblyfor orienting the images obtained by a scope that is compact.

It is still another object of the present invention to provide anassembly for orienting the images obtained by a scope that works with anoff-axis view vector.

In order to overcome the deficiencies of the prior art and to achieve atleast some of the objects and advantages listed, the invention comprisesa coupling assembly for connecting a scope and image sensor housing,including a image orientation unit having first and second ends, theunit having a first coupler section located at the first end of the unitfor coupling the unit to a scope and a second coupler section located atthe second end of the unit for coupling the unit to an image sensorhousing, an optical assembly at least partly arranged in the unit fortransmitting images therethrough, the optical assembly having at leastone rotatable optical element that rotates the optical images, arotation sensor for monitoring rotation of the optical element andgenerating a first signal therefor, an accelerometer arranged in theimage orientation unit for monitoring the rotation of the unit andgenerating a second signal therefor, and a processor connected to therotation sensor and the accelerometer for receiving the first and secondsignals and, at least partly based on the first and second signals,calculating the orientation of the images relative to the direction ofgravity.

In another embodiment, the invention comprises a coupling assemblyconnecting a scope and image sensor housing, including an imageorientation unit having first and second ends, a scope coupled to thefirst end of the image orientation unit, an image sensor housing coupledto the second end of the image orientation unit, an optical assembly atleast partly arranged in the unit for transmitting images therethrough,the optical assembly having at least one rotatable optical element thatrotates the optical images, a rotation sensor for monitoring rotation ofthe optical element and generating a first signal therefor, anaccelerometer arranged in the image orientation unit for monitoring therotation of the unit and generating a second signal therefor, and aprocessor connected to the rotation sensor and the accelerometer forreceiving the first and second signals and, at least partly based on thefirst and second signals, calculating the orientation of the imagesrelative to the direction of gravity.

In yet another embodiment, the invention comprises an endoscopicassembly, including a camera, the camera comprising a main section and acoupling assembly section, an optical assembly arranged in the camerafor transmitting images therethrough, the optical assembly having atleast one optical element, a rotation sensor arranged in the camera formonitoring rotation of the optical element and generating a first signaltherefor, an accelerometer arranged in the coupling assembly section formonitoring the rotation of the coupling assembly section and generatinga second signal therefor, and a processor connected to the rotationsensor and the accelerometer for receiving the first and second signalsand, at least partly based on the first and second signals, calculatingthe orientation of the images relative to the direction of gravity.

In some of these embodiments, the invention further includes anactuator, such as a motor, for rotating the optical element, wherein theactuator is connected to the processor to receive a signal therefromindicating the amount to rotate the optical element in order to levelthe images. In some embodiments, the optical element is disposed in anoptical element housing, a first gear is coupled to the motor androtated thereby, and a second gear is driven by the first gear andcoupled to the optical element housing such that the optical element isrotated by rotation of the second gear.

In some embodiments, the orientation unit includes a main housing, thesecond coupling section of the orientation unit includes a rotatablemember that rotates relative to the main housing, and the opticalelement housing is coupled to the rotating member such that it rotateswith the rotating member relative to the main housing, and the motordrives a differential gear set coupled to the optical element housingsuch that the optical element is rotated thereby.

In certain embodiments, the optical assembly includes a second rotatableoptical element, and a second rotation sensor monitors rotation of thesecond optical element and generates a third signal therefor, whereinthe processor is connected to the second rotation sensor for alsoreceiving and using the third signal to calculate the orientation of theimages relative to the direction of gravity.

In some embodiments, the actuator is connected to the processor toreceive a signal therefrom indicating the amount to rotate the opticalassembly in order to level the images, wherein the orientation unitincludes a main housing, the second coupling section of the orientationunit includes a rotatable member that rotates relative to the mainhousing, and the optical assembly is coupled to the rotating member suchthat the optical assembly rotates with the rotating member relative tothe main housing.

In certain embodiments, the invention further includes a rotatable imagesensor for receiving the images transmitted by the optical assembly,wherein the image sensor is connected to the processor and is rotatedbased on the first and second signals.

In some embodiments, the orientation unit includes a visual indicatorthat indicates the direction of vertical based on the signal provided bythe accelerometer. In some of these embodiments, the visual indicatorcomprises an array of diodes, wherein the diodes are individuallyilluminated to indicate the direction of vertical.

BRIEF DESCRIPTION OF THE DRAWINGS

FIGS. 1A-C are side views of image orientation systems in the prior art.

FIG. 2A is a side view of an image orienting coupling assembly inaccordance with the invention.

FIG. 2B is an exposed side view of the image orientation unit of theimage orienting coupling assembly of FIG. 2A.

FIGS. 3A-C are side views showing additional detail of the imageorientation assembly of FIGS. 2A-B.

FIG. 4 is a side view of an endoscopic camera employing an imageorientation unit in accordance with the invention.

FIGS. 5A-B are isometric views of an endoscopic system in accordancewith the invention using a visual indicator of the vertical direction.

FIG. 5C is a side view of the image orientation unit of the endoscopicassembly of FIGS. 5A-B.

FIG. 6 is an isometric view of the endoscopic system of FIGS. 5A-B witha scope having an off-axis view vector.

DETAILED DESCRIPTION OF THE INVENTION

The basic components of one embodiment of an image orienting couplingassembly in accordance with the invention are illustrated in FIGS. 2A-B.As used in the description, the terms “top,” “bottom,” “above,” “below,”“over,” “under,” “above,” “beneath,” “on top,” “underneath,” “up,”“down,” “upper,” “lower,” “front,” “rear,” “back,” “forward” and“backward” refer to the objects referenced when in the orientationillustrated in the drawings, which orientation is not necessary forachieving the objects of the invention.

An image orientation unit 36 has a first end with a coupling section 38,which comprises a standard coupler for connecting to a traditionalendoscope eyepiece 32, and a second end with a coupling section 40,which may comprise its own eyepiece 40 that is connected to atraditional camera head 12 via an eyepiece coupler 30. The imageorientation unit 36 has an optical assembly arranged therein fortransmitting the endoscopic images from the scope to the camera, whichis further explained below. An accelerometer 18 is arranged the unit 36,which gauges any rotation of the unit 36 relative to the direction ofgravity, as well as the inclination of the unit. The accelerometer 18generates and communicates a signal reflecting this rotation to aprocessor 16 connected thereto.

In certain advantageous embodiments, the optical assembly includes aseries of lenses 42, 44, an optical image rotator 46, and an opticalimage reverser 48. The image rotator 46 comprises a rotatable opticalelement, such as, for example, a dove prism or a K prism. The opticalelement 46 is at least partly disposed in a housing 50, and the housing50 is coupled to a gear 56. Another gear 54, which is rotated by anactuator 52, engages the gear 56. In this way, the actuator 52, such asa motor, causes the optical element 46 to rotate via the gear set 54,56. A rotation sensor, such as an encoder 58, monitors the rotation ofthe prism 46 and, like the accelerometer 18, generates and communicatesa rotation signal to the processor 16, which is likewise connectedthereto. The processor 16 uses the information received in these firstand second signals respecting the rotation of the optical element 46 andthe unit 36 to calculate the amount of rotation required to level theendoscopic image, and accordingly provides a signal to the actuator 52to rotate the element 46 about the optical axis the appropriate amount.

In some embodiments, the orientation unit 36 is powered via a cable,while in other advantageous embodiments, it is powered by an on-boardrechargeable battery 64 with a recharging connector 66.

In certain embodiments, the orientation unit 36 is tightly clamped tothe endoscope eyepiece 32 so that, by monitoring the rotation of theunit 36, the accelerometer 18 also monitors the rotation of theendoscope. Similarly, the camera head 12 is clamped tightly to theeyepiece 40 such that there is no relative rotation between the camerahead 12 and the eyepiece 40. As a result, the camera head 12 always hasa known orientation relative to the orientation unit 36 so that theprocessor 16 can compute the correct adjustments for the rotator prism46 without additional sensors. The initial alignment of the endoscope,orientation unit 36, and camera head 12 is done at the beginning of eachprocedure according to external calibration marks or indicators, such asnotches or lines.

In certain embodiments, as illustrated in FIG. 3A, the orientation unit36 allows the eyepiece 40 and an optical housing tube 68 to rotateindependently of the orientation unit 36. This independent rotationgives the camera head the freedom to rotate relative to the endoscope,as is desired in some endoscopic procedures. For example, surgeonssometimes like to hold the camera head and grab the endoscopic lightcable to rotate the endoscope, requiring relative rotation between thecamera head and the endoscope. Accordingly, in order to achieve thisincreased flexibility, a second encoder 70 is used to monitor therelative rotation between the camera head and the orientation unit 36rigidly connected to the endoscope. The encoder 70 is connected to theprocessor 16 and sends a signal thereto reflecting the rotation of thecamera head relative to the unit 36, and the processor uses thisinformation, along with the information received from the accelerometer18 and encoder 58, to calculate the amount the actuator 52 must rotatethe optical element housing 50 in order to level the endoscopic image.

As shown in FIG. 3B, in some embodiments, the prism 46 is positioned inthe rear of the unit 36 in the optical housing tube 68, and the forwardprism assembly 80 remains fixed to the housing of the orientation unit36. Accordingly, the prism 46 rotates with the camera head 12, and adifferential gear drive can be used instead of a second encoder. Such adifferential drive includes an appropriate set of gears 72, 74, 75, 76,78 with the correct ratio to allow the eyepiece 40 and the actuator 52to drive rotator prism 46 independently, such that the image staysleveled regardless of the position of the unit/endoscope combinationrelative to the camera head. The encoder 58 indirectly senses therotation of the rotator prism 46 by sensing the rotation of the drivegear 54.

As shown in FIG. 3C, in some embodiments where it is desired to permitthe camera head to rotate relative to the endoscope, instead of using aprism to rotate the image, an entire optics-eyepiece assembly 40 isrotated. Because the attached camera head rotates with the entireassembly 40, the image leveling is accomplished by rotating the cameraitself instead of the optical image. In this case, the user holds theendoscope or orientation unit instead of the camera, and the motor 52,which receives its instructions from the processor 16 based on thesignals received from the accelerometer 18 and encoder 58, rotates theentire assembly 40 via a standard gear set 54, 56, as previouslyexplained.

Referring to FIG. 4, a specialty camera head is illustrated thatincludes the above described image-leveling. The camera head includes amain section 82 and coupling assembly 84. The coupling assembly 84,which can rotate relative to the main section 82 through a couplingjoint 86, clamps rigidly to an endoscope eyepiece 32 and houses anaccelerometer 18. Because this coupling assembly 84 clamps rigidly to anendoscope eyepiece 32, the accelerometer 18 follows and senses themotion of the endoscope. The main section 82, which comprises an imagesensor 14, an encoder 58, and supporting electronics (not shown) canspin freely relative to the endoscope, just like a standard camera head.The encoder 58 senses the rotation of the optics assembly 68, which ispartly disposed in the coupling assembly 84. The processor 16 calculatesan up-right image orientation in response to signals from theaccelerometer 18 and encoder 58, as previously described. The imageorientation is then adjusted electronically, or by rotating the imagesensor 14, or by rotating a rotator prism, which may be arranged in thecamera head.

Though, in some advantageous embodiments, the assembly uses the abovedescribed determination of rotation relative to the direction of gravityto automatically level the image, in other embodiments, this is used toprovide the surgeon with an indicator of vertical without reorientatingthe endoscopic image, as shown in FIGS. 5A-C. This allows surgeons, someof whom have become accustomed to reorienting the camera manually duringa procedure and do not necessarily require the image to be automaticallycorrected for them, to continue the practice of adjusting the camerathemselves by using the indicator as an aid in determining how muchrotation is needed in order to obtain a truly upright image.

For example, referring first to Figure C, the orientation unit 88includes a ring a light emitting diodes 90. Each diode in the array 90can be individually illuminated based on a signal produced by theaccelerometer 18 arranged in the housing. As shown in FIG. 5A, aparticular illuminated diode 92 acts as an indicator of the up direction94 of the endoscopic image. Depending on the attitude of the endoscope,this up-direction 94 is generally not aligned with the physicalup-direction 96 of the camera head 12. Thus, as illustrated in FIG. 5B,the illuminated diode 92 tells the user through what angle 98 to rotatethe camera head 12 in order to obtain an upright image. Other indicatorsof vertical may be employed besides light emitting diodes, such as, forexample, a marker mounted to the unit such that it is rotatable by anactuator according to signals received from the accelerometer 18.

Typically, the orientation units described above are coupled tightly tothe eyepiece 32 of the endoscope, such that the accelerometer 18 movesin direct correspondence with the endoscope. However, in otherembodiments, rotation between the orientation unit and the eyepiece 32may be provided if the orientation unit includes another rotation sensorfor sensing the relative rotation. For example, in some embodiments, arotating coupling with an encoder to monitor the relative rotationbetween the endoscope and the orientation unit (including theaccelerometer 18) is employed. This accelerometer senses the rotation ofthe orientation unit and not the endoscope, but the encoder would relatethe roll of the orientation unit to the roll of the endoscope. Theaccelerometer would also still provide information about the endoscopeinclination (i.e., pitch), as this would still be the same for both thescope and the orientation unit. It should also be noted that any rotaryencoder used to sense rotation could be either incremental or absolute.

As previously noted, the initial arrangement of the endoscope,orientation unit, and camera head must be determined. This serves as thereference configuration, and all changes in configuration occurringduring a procedure are measured relative to this reference. Typically, auser would orient the endoscope, orientation unit, and camera accordingto a reference orientation at the beginning of each use. In some cases,sensors are employed to automatically detect the relative arrangement ofthe system components based on indicators or markers so that the userdoes not have to perform any manual alignment.

For endoscopes with fixed, off-angle viewing direction, such as thirtyor seventy degrees, the leveling or indication of vertical performed bythe orientation unit would either be specific to the off-angle, or itwould have an adjustable setting. As illustrated in FIG. 6, the userlines up the orientation unit according to an initial referenceconfiguration, in which the up directions 94 of the camera head 12, theorientation unit 36, and the off-angle viewing direction 98 of theendoscope lie in the same plane 100. The up directions are indicated byalignment notches 102, 104, 106, and the unit 36 is precalibratedaccording to a mathematical framework, such as that disclosed in U.S.patent application Ser. Nos. 2005/0154260 and 2005/0228230 by Schara, etal., the specifications of which is hereby incorporated herein in theirentireties by reference. If the unit 36 has an adjustable setting, theuser can select the angle for the endoscope with a set of buttons 108.The processor 16 then adjusts the image orientation parameters as taughtin the aforementioned applications according to the selected setting.

It should be understood that the foregoing is illustrative and notlimiting, and that obvious modifications may be made by those skilled inthe art without departing from the spirit of the invention. Accordingly,reference should be made primarily to the accompanying claims, ratherthan the foregoing specification, to determine the scope of theinvention.

1. A coupling assembly for connecting a scope and image sensor housing,comprising: a image orientation unit having first and second ends, saidunit having a first coupler section located at the first end of saidunit for coupling said unit to a scope and a second coupler sectionlocated at the second end of said unit for coupling said unit to animage sensor housing; an optical assembly at least partly arranged insaid unit for transmitting images therethrough, said optical assemblyhaving at least one rotatable optical element that rotates the opticalimages; a rotation sensor for monitoring rotation of said opticalelement and generating a first signal therefor; an accelerometerarranged in said image orientation unit for monitoring the rotation ofsaid unit and generating a second signal therefor; and a processorconnected to said rotation sensor and said accelerometer for receivingthe first and second signals and, at least partly based on the first andsecond signals, calculating the orientation of the images relative tothe direction of gravity.
 2. The assembly of claim 1, further comprisingan actuator for rotating said optical element, wherein said actuator isconnected to said processor to receive a signal from said processorindicating the amount to rotate said optical element in order to levelsaid images.
 3. The assembly of claim 2, wherein said actuator comprisesa motor, further comprising: an optical element housing in which saidoptical element is at least partly disposed; a first gear coupled tosaid motor and rotated thereby; a second gear driven by said first gearand coupled to said optical element housing such that said opticalelement is rotated by rotation of said second gear.
 4. The assembly ofclaim 2, further comprising: an optical element housing in which saidoptical element is at least partly disposed; wherein said orientationunit includes a main housing, the second coupling section of saidorientation unit includes a rotatable member that rotates relative tosaid main housing, and said optical element housing is coupled to saidrotating member such that said optical element rotates with saidrotating member relative to said main housing; wherein said actuatorcomprises a motor; and a differential gear set driven by said motor andcoupled to said optical element housing such that said optical elementis rotated thereby.
 5. The assembly of claim 1, wherein said opticalassembly includes a second rotatable optical element, further comprisinga second rotation sensor for monitoring rotation of said second opticalelement and generating a third signal therefor, wherein said processoris connected to said second rotation sensor for receiving and using thethird signal to calculate the orientation of the images relative to thedirection of gravity.
 6. The assembly of claim 1, further comprising: anactuator for rotating said optical assembly, wherein said actuator isconnected to said processor to receive a signal from said processorindicating the amount to rotate said optical assembly in order to levelthe images; and wherein said orientation unit includes a main housing,the second coupling section of said orientation unit includes arotatable member that rotates relative to said main housing, and saidoptical assembly is coupled to said rotating member such that saidoptical assembly rotates with said rotating member relative to said mainhousing.
 7. The assembly of claim 1, wherein said optical elementcomprises a dove prism.
 8. The assembly of claim 1, wherein said opticalelement comprises a K prism.
 9. The assembly of claim 1, wherein saidoptical assembly further includes an image reverser.
 10. The assembly ofclaim 1, wherein said image reverser comprises a prism.
 11. The assemblyof claim 1, further comprising a rotatable image sensor for receivingthe images transmitted by said optical assembly, wherein said imagesensor is connected to said processor and rotated thereby based on thefirst and second signals.
 12. The assembly of claim 1, wherein saidrotation sensor comprises a rotary encoder.
 13. The assembly of claim 1,wherein said unit further includes a visual indicator that indicates thedirection of vertical based on the signal provided by the accelerometer.14. The assembly of claim 13, wherein said visual indicator comprises anarray of diodes, wherein said diodes are individually illuminated toindicate the direction vertical.
 15. The assembly of claim 1, whereinsaid accelerometer senses the inclination of said unit relative to thedirection of gravity and communicates a signal therefor to saidprocessor.
 16. An assembly connecting a scope and an image sensorhousing, comprising: an image orientation unit having first and secondends; a scope coupled to the first end of said image orientation unit;an image sensor housing coupled to the second end of said imageorientation unit; an optical assembly at least partly arranged in saidunit for transmitting images therethrough, said optical assembly havingat least one rotatable optical element that rotates the optical images;a rotation sensor for monitoring rotation of said optical element andgenerating a first signal therefor; an accelerometer arranged in saidimage orientation unit for monitoring the rotation of said unit andgenerating a second signal therefor; and a processor connected to saidrotation sensor and said accelerometer for receiving the first andsecond signals and, at least partly based on the first and secondsignals, calculating the orientation of the images relative to thedirection of gravity.
 17. The assembly of claim 16, wherein the scope isan endoscope.
 18. The assembly of claim 17, wherein the image sensorhousing is a camera head.
 19. The assembly of claim 16, wherein thescope has a longitudinal axis and a view vector angularly offset fromthe longitudinal axis.
 20. The assembly of claim 16, wherein the scopehas a view vector with a variable direction of view.
 21. The assembly ofclaim 16, wherein the scope is rigidly connected to said orientationunit.
 22. The assembly of claim 16, wherein the camera head is rigidlyconnected to said orientation unit.
 23. The assembly of claim 16,further comprising an actuator for rotating said optical element,wherein said actuator is connected to said processor to receive a signalfrom said processor indicating the amount to rotate said optical elementin order to level said images.
 24. The assembly of claim 23, whereinsaid actuator comprises a motor, further comprising: an optical elementhousing in which said optical element is at least partly disposed; afirst gear coupled to said motor and rotated thereby; a second geardriven by said first gear and coupled to said optical element housingsuch that said optical element is rotated by rotation of said secondgear.
 25. The assembly of claim 23, further comprising: an opticalelement housing in which said optical element is at least partlydisposed; wherein said orientation unit includes a main housing, thesecond coupling section of said orientation unit includes a rotatablemember that rotates relative to said main housing, and said opticalelement housing is coupled to said rotating member such that saidoptical element rotates with said rotating member relative to said mainhousing; wherein said actuator comprises a motor; and a differentialgear set driven by said motor and coupled to said optical elementhousing such that said optical element is rotated thereby.
 26. Theassembly of claim 16, wherein said optical assembly includes a secondrotatable optical element, further comprising a second rotation sensorfor monitoring rotation of said second optical element and generating athird signal therefor, wherein said processor is connected to saidsecond rotation sensor for receiving and using the third signal tocalculate the orientation of the images relative to the direction ofgravity.
 27. The assembly of claim 16, further comprising: an actuatorfor rotating said optical assembly, wherein said actuator is connectedto said processor to receive a signal from said processor indicating theamount to rotate said optical assembly in order to level the images; andwherein said orientation unit includes a main housing, the secondcoupling section of said orientation unit includes a rotatable memberthat rotates relative to said main housing, and said optical assembly iscoupled to said rotating member such that said optical assembly rotateswith said rotating member relative to said main housing.
 28. Theassembly of claim 16, further comprising a rotatable image sensor forreceiving the images transmitted by said optical assembly, wherein saidimage sensor is connected to said processor and rotated thereby based onthe first and second signals.
 29. The assembly of claim 16, wherein saidunit further includes a visual indicator that indicates the direction ofvertical based on the signal provided by the accelerometer.
 30. Theassembly of claim 29, wherein said visual indicator comprises an arrayof diodes, wherein said diodes are individually illuminated to indicatethe direction vertical.
 31. The assembly of claim 16, wherein saidaccelerometer senses the inclination of said unit relative to thedirection of gravity and communicates a signal therefor to saidprocessor.
 32. An endoscopic system, comprising: a camera, said cameracomprising a main section and a coupling assembly section; an opticalassembly arranged in said camera for transmitting images therethrough,said optical assembly having at least one optical element; a rotationsensor arranged in said camera for monitoring rotation of said opticalelement and generating a first signal therefor; an accelerometerarranged in said coupling assembly section for monitoring the rotationof said coupling assembly section and generating a second signaltherefor; and a processor connected to said rotation sensor and saidaccelerometer for receiving the first and second signals and, at leastpartly based on the first and second signals, calculating theorientation of the images relative to the direction of gravity.
 33. Thesystem of claim 33, further comprising an endoscope coupled to thecoupling assembly section of said camera.